Motor speed control



May 12, 1953 c. CALOSI 2,638,568

MOTOR SPEED CONTROL Filed Jan. 18, 1949 4 Sheets-Sheet 1 55/ 0,951.0 L. CALOS/ 2, 1953 c. L. CALOSI 2,638,568

MOTOR SPEED CONTROL Filed Jan. 18, 1949 4 Sheets-Sheet 2 0 5 o moo mo 2500 RPM y 12, 1953 c. L. CALOSI 2,638,568

MOTOR SPEED CONTROL 4 Sheets-Sheet 3 Filed Jan. 18, 1949 5y A ,0 M X May 12, 1953 c. L. CALOSI 2,638,568

MOTOR SPEED CONTROL Filed Jan. 18, 1949 4 Sheets-Sheet 4 I m 7-7 8 TIME UNIT; fi fy Patented May 12, 1953 v UNITED STAT 2,638,568

MOTORISPEED GG'NTRDL Carlo .L. Calosi, Cambridge, Mass assignor te "Raythe'on Manufacturing "com any, Newton,

Mas's., acorporation of Delaware Application January 18, 1949,-Seriall\lo.'fi1;467

32 Claims. 1

This invention relates. in general to electric circuits for controlling the operation of electric motors, and more particularly to such circuits which operate direct current motors from alternoting current power lines.

It is the main object of the invention taprovideimproved control circuit means for D. C. electric motors. y

it another object to .provide .such means which accurately and smoothly accelerates the motor to and maintains it atadesired constant speed within wide limits of load conditions.

It is another object to provide such means which maintains the motor speed constantup to. a prescribed high load limit, and then reduces the motor speed to zero when the load exceeds this limit,- and to further provide such means which can be arranged to reduce the stalled current. to .a safe limit when the motor speed is so reduced.

It is another object to provide such motor control means which can be arranged toprovide any desiredspeed-torque characteristics, so that, withasin-gle motor, the desirable characteristics of either a series, shunt, or compound-wound motor can bet-had. 1

It is a further object of the invention toprevide circuit means employing gaseous discharge tubes wherein the foregoingadvantages =arehad and the tubesare simultaneously protected from being burned out, while furnishing smooth starting current throughout an accelerating or start-- ing period.

,It is a still further object to provide circuit means for reversing and stopping the motor, wherein events are arranged ina sequence such that switch contacts in the circuit are without electric current at the momentof openingor closing, whereby relay life is greatly. extended.

It is a still further objecto'fthe invention to provide braking means wherein, for reversing purposes, dynamic braking and reverse-current braking are combined to advantage. 7

.It is still another object to provide the fore"- going controlci'rcuit means wherein, in a 'full wave system, the currents drawn through both branches are automatically balanced in the in-' terests of smooth operation, low heat loss, and generally improved efficiency.

Other and further objects and featureso'i the present invention will become apparent .froni the detailed description of certain embodiments thereof which follows, reference being made to the accompanying drawings, wherein:

Fig. l is acircuit diagram" of a hali wavemotorl control system in accordance with the invention;

-2 24s a wave diagram illustrating the operation of the circuit of Fig. 1 under one set of operating conditions r li-ig. is a wave -diagram illustrating the operation of the 'circuit o-f Fig. 1 under a second set of operating conditions; Fig. 4 is a graph illustrating motor speed vs. torque operating characteristics of Fig. l,;

5 illustratesa modification of Fig. 1 g. 6 illustrates another modification of Fig. 1,; Fig; 7 is acircuit diagram of a full wave sys ternin accordance with the invention, employingieaturesshown in Fig. 1;

Fig.3 is a circuit diagram of a start, stop, and reverse system which can be employed with the circuit of Fig. 1; and, I Eig- 9 is a graph illustrating the character of the reversing operation of 'the circuit of Fig. 8 I Referring how to Fig. 1, a direct current motor it comprising an armature l l and a field winding 12 isdriven from asource of alternating current, not shown, through input terminals i3 connected to Ian autotransfornier i i. A current rectifier it, which may be of any desired (form, provides unidirectional current for thefield winding 12.. This rectifier is connected at one side to the autotrlansferrner H3 at a point iii, and at the other side to one end of the field winding .12. The field winding is connected at its other end to a resistor i? which is connected at its remaining end to. thecommonena '18 or theau'totransforrner ll. The voltage provided between the points it and. [8 of the auto't'rans'fornier is higher than that of the source, as desired. A condenser 19 is connected in parallel with the field windin 12 and resi's'to'r i"! to stabilize the unidirectional field voltage at ahigh value, very close to the peak alternt'aihg voltage between the points it and'lB of the autotransformer M. A main grid controlledgaseous discharge tube Zl, which may be a thyratron, 'is c'on-ne'cted at its anode ditto the remaining end "'22 of the autotrans'f'ormer 1'4, and at its cathode 3'4 to one side of the armature l l, is, inturn, connected at its other side to thecommon point I8. Unidirectional current pulses are thereby. provided to the armature II. from the auto'tran's'former' H, at the highest vein, age available therefrom. The gaseous discharge time his controlled in its firing b eircuit .fr'ieans which will now be described. auxiliary gaseous discharge tube 25 is ar-l ranged in a relaxation oscillator circuit including apharging condenser 'zii and a charging resistor 21. in voltage divideriil, including resistors 28, 23, 3t, and in series, is connected across the fleldvoltage supply between points 23 and 3 24 from the positive to the negative side, respectively. The armature I I is interposed between the negative point 24 and the negative end I8 of the voltage supply. The anode 33 of the auxiliary gaseous discharge tube 25 is connected to the positive point 23 through the charging resistor 21 and the secondary winding 35, of a transformer 36, in series. The primary winding I I3 of this transformer is connected to a source of alternating voltage, represented by a generator II4, which is of the same phase and frequency as the main power alternating voltage applied at the main power terminals I3. The purpose of the transformer 33 will be explained below. The cathode 38 and the screen grid 4| of this tube are connected together to an intermediate point 33 of the voltage divider 31. The charging capacitor 26 is connected at one side to the anode 33, and at the other side to another intermediate point 42 on the voltage divider 3i closer to the negative end 24 thereof than the first-mentioned intermediate point 39. The voltage existing between points 23 and 39 of the voltage divider energizes 4 tube 2|, which is thereby fired at an accurately controlled point in its conductive half-cycle to operat the motor In at a desired speed which is controlled by the setting of the movable arm 5| of the potentiometer 52. The precise manner in which this is accomplished is explained in detail belowv in connection with Figs. 2 and 3. The movable arm 54 of the second potentiometer 54 adjusts the maximum speed which can be obtained with settings of the reference voltage tap 5| of the first potentiometer 52.

The control grid 6| of the main gaseous discharge tube 2| may be provided with an initial fixed bias by means of a bias source 98 which the anode-cathode path of the auxiliary discharge tube 25, while the voltage between points 23 and 32 is employed to charge the condenser 26 through the charging resistor 27.

The control grid 4d of the auxiliary discharge tube is connected, via acurrent-limiting resistor 63, a phase-shifting network 48, and a second or coupling resistor 49, to the movable or reference voltage tap 5| of a potentiometer 52, which serves to control the D. C. level or referenoe voltage of the control grid 44 with respect to the cathode 38. The phase-shift network 48 is provided with alternating current from a source, represented by a generator 88, of the same frequency and phase as the main power source which is connected to the main power terminals I3. A transformer 39 has its primary winding 9I connected to this source and a secondary winding 94 connected in the phase-shift circuit. This secondary winding 94 is connected at a center point 95 to the coupling resistor 49 and therethrough to the reference voltage tap 5|. A capacitor IIG and a resistor II5 are connected in series across the secondary winding 94, and their common junction is connected to the controlgrid 44 via the limiting resistor 45. The capacitor and resistor are dimensioned to provide that the alternating voltage on the control grid 44 shall lag the main power alternating voltage, and, therefore, alternating voltages which exist at the anodes 20 and 33 of the two discharge tubes by ninety degrees in phase, as will be discussed more fully below in connection with Fig. 3. The potentiometer 52 is in a second voltage divider circuit connected across the field voltage supply, and including in series a fixed resistor 53, a second potentiometer 54, the first-mentioned potentiometer and another fixed resistor 55. Bypass capacitors 53 and 59 are connected from each side of the coupling resistor 49 to the common terminal I8 and the positive side of the armature, respectively. A bypass capacitor 51 is connected between the control grid 44 and the cathode 38.

The cathode 38 is connected to the control grid SI of the main gaseous discharge tube 2| via a coupling capacitor 62. In normal operation, the relaxation oscillator circuit of the auxiliary gaseous discharge tube 25 furnishes extremely sharp voltage pulses at the cathode 38, which are coupled through the coupling capacitor 62 to the control grid 6| of the main gaseous discharge provides a potential to the control grid 3| which is negative with respect to the potential level of the cathode, through a current-limiting resistor 99. The bias circuit is by-passed by a capacitor IIJI. The bias potential source may be of any suitable type, such as, for example, a battery, or a circuit of a kind to be described in connection with Fig. 7 may be used, if desired. A filter capacitor I93 is provided in parallel with the resistortz nearest the negative end 24 of the voltage divider. A bypass capacitor I95 is provided across the entire voltage divider with the exception of the first resistor 28 nearest the positive end 23 thereof.

The operation of the relaxation oscillator circuit of the auxiliary gaseous discharge tube 25 may be better understood from Figs. 2 and 3. Fig. 2 illustrates the operating conditions of the relaxation oscillator circuit when the voltage Ep applied to the anode 33 is unidirectional. This voltage is derived directly from the autotransformer I4 at point It via the rectifier I5 and the filter capacitor I9, and is fairly steady. With a steady unidirectional voltage at the anode 33, and assuming the cathode 38 also to be at a steady unidirectional potential, namely, that of intermediate point 39 on the voltage divider 37, there will exist a firing potential of a prescribed value represented by'the line Er. The potential of the control grid 44 is made up of two components, one of which is a unidirectional reference voltage E51, namely, the voltage at the movable tap 5| of the speed control potentiometer 52, and is adjustable in level with respect to E: and Ep, and the other of which is an alternating voltage e furnished via the transformer 89 through the phaseshift network 48. In Fig. 2 there are illustrated three different operating conditions, designated A, B and C, respectively. In condition A, E51 is set so far below E: that e at no time reaches as high as Er. With this setting, the auxiliary gaseous discharge tube 25 is not fired, and the motor In is at rest. In condition B, E51 is raised in a positive direction, toward Ep, to the point where e just touches E: at the peak of the positive half cycle. At this instant, the charging capacitor 26, which has already been charged from the field D. C. voltage source, discharges through the tube 25 almost instantaneously, resistor 39 of the voltage divider 3'! being the only appreciable resistance in the discharge circuit, thereby creating a great surge of current in the tube and driving the potential of the cathode 38 in the positive direction. At the same time, current is drawn through the anode circuit resistor 27,- thereby changing the anode potential in a negative direction, and through resistors 35, 3| and 32 in the cathode circuit, thereby changingthe cathode potential in a positive direction, the effect of which is to extinguish the tube and cut off the current flow after a very short period of ins volt e e w th re p t here time. The capacitor 26 may havefa value of 0.005 microfarad, andthe resistor 21a value oi 1mes ohm, .while resistors 30 to 32 together may be of theorder of 100,000 ohms. These ualues wi provide a short pulse through the tube when the capacitor 26 is discharged, and a substantial delay in the recharging of the capacitor through the charging resistor 21. At the timethatthe auxiliary gaseous discharge tube 25 is rendered conductive, the anode voltage E undergoes a surge in a negative direction and recovers exe ponential-ly as the capacitor 26 charged through the resistor 27, as shown at I01.

Th chan in the potential of the catho e -38 is in the form of a very sha p nosit -vepuise,

having the nature of a sharp spike I 110,8, asshown inFig. 2. This spike-likepulse is coupled to t e. arid 8| of themain s ous d s ha e tube 2! by way of the coun ns' pae tor e2 .on' y.snsi. since the coupled pulse has an extremely sharp, almost perf y ve t ca adin d e. he tube 2! is rendered conductive at a definite M sharply prescribed point in its conductive half c l To this e ource 88 s. the sam p a e as h a n n v tag a p ed he pow te m na 3, nd may, in eed he the seme so ce while p nse s i t ne w k-ii pro de a 90 d e p as hi of the alt at hem-tur 9 th s has shift i l be mo fully nhiei e conn ction w i 3,

25. i re red conductive ea in e tiv half-c cl o Under thi co i on a firs spike [08 is produced followed by successive pikes H and H e1 cc rr u in th same p i e half e of e T e uc s ve sp k s a e ac d art b e tim int r s dei nniii by t e in: r ui d. in ha e he apaci o 2 r h the si o i to a ir n anode potential. However, only the first spilre I08 is important in the control of the main gaseous discharge tube 2| for, once this tube is fired in a conducting half cycle, it remains conductive for the remainder of that half cycle.

Fig. 3 illustrates the operation of the relaxation oscillator circuit of the auxiliary gaseous discharge tube when an alternating voltage re superimposed upon Ep by means or the transformer 3B which has its secondary winding connected in the circuit of the anode 33. The primary winding I 13 of this transformer is energized irorn a source of alternating voltage, which source is represented as a generator i l, but has the same frequency and is in the same phase as the source which is connected to the terminals 13 and may, indeed, be the same source. Thus, the alternating voltage on the anode 33 of the auxiliary gaseous discharge tube 25 is in phase with the alternating voltage on the anode 20 of the main gaseous discharge tube 2!. The alternating voltage e is retarded 90 degrees'with respect to 6;) by the phase-shift network 48. since there is now alternating voltage on the anode 33, the firing voltage er is curved in. a

tive so that eg breaks through er at a point late in the positive half cycle of e;;, and the spike m8 re u ts. use ma n aseous -.dise a;rse 2| i the rende ed conduc ve by th s sp ke for a similar Portion of the c ndu iveahal-i sto e t re f as :tha-t'p tion of the conduotiv 'ha i c e f en du in which th aux iaryischarge t be 2.511s conductive. .Incondition 6 inaFis: 3, E51 has be n r nd red sufi e ilr positive so that'e bre ks throu h much earlier than the nos tive :he i c cle o epta d he spike L08 re sults earlier n his one uct v ha f. cycle. m n seseo sdi har e tub 21 i gain rendered esnduet veat e s m l r early poin in i s-con duotiv ha f cyc e. Al hou h the su ceeding s ik s of the re axation ill t c cuits are "of no e fect n't op ration ofrt otor 19,. it is inte estin t no hat, When the relaxat on os l ator is op ated, ass wn i "Fi 3, these su c ed-ins u s s a e o successive diminishi g masni ud f he r a hat 6p becomes mo e ne a i e for each one The ad ntag s. o op a ng h l x on Os llat as shown n Fi 3 a that a small unidirectional anode voltage E may be employed, thereby minimizing rectifier power source insular tionand cost, while, at the same time, high volt.- ages may be obtained at the anodei3 at exactly the time when desired, so that the spike 1,08 which-is used to fire, the. main gaseous discharge tub 2,! will be .of an incr as d magnitude corre: sponding with the sinusoidal variations in magpie tude ofthe anode potential ofthe main gaseous discharge tube 2!; that is, a spike :68 which .is available to fire the main gaseous discharge tube 2! during the conductive half cycle thereof is large in magnitude, whereas spikes which occur beyond eitherend of the conductive half cycle are of smaller magnitude. This guarantees posttive firing by the spike 108 at all timesr Suitable values for thevvarious components-of the relaxation oscillator circuit are as tollows:

Resistor 46 ohms 56,000 Capacitor 5'! microfarad 0:003 Resistors 28 and-29 combined inegohms 2 Resistor 30 ohms 100,000 Resistors 3| and 32oombined do 10,000 E volts D. C 300 a vo1ts A; C

The tube 25 may be a type 21321 Suitable val s of h p or 25 andresi tor 2T haveualready been set forth above,

In the phase-shift network s 8 Resistor H5 ohms 270,000 Capacitor H6 mi crofarad 0.01

.The fore oing sui a e a u derstood to be exemplary only, and inno sense to be regarded as limiting.

The speed at which the armature, ll turns-is automatically maintained stable within certain prescribed limits by virtue of the fact thatthe back E. M. ofthe motor 10 providesva bias on thecathode .34 of the main discharge tube2l which tends to limit the currentpas ing through the tube ,as the speed of the motor increases, and to increase the current passing throughthe tubeas thespeed of the motor decreases. This is a coarse speed regulation. Fine speed regula} tion is afforded by means of a, circuit including a. tran fo mer 6 avin i s. primary winding 65 connected between the anode '20 of the main gaseous discharge tube 21 and the high voltage terminal 22 of the autotransformer 14; "The secondary winding 61 of the transformer 65, is

7 connected at one end to the junction point 39 of the two resistors 3| and 32 of the first voltage divider 31 which are nearest the negative end 24 thereof, and at the other end to the intermediate point 42 to which the relaxation oscillator charging capacitor 25 is connected, via a rectifier 10 and two resistors 1| and 12 in series. A capacitor 14 is connected at one side to the above-mentioned junction point 69, and at the other side to the junction point I5 between the two series resistors H and 12. The rectifier M, which may be a diode electron valve, is poled to provide a voltage drop in the three resistors 3|,

12 and H across the secondary winding 61 such that the drop in the resistor 3| of the voltage divider 3'! is in opposition to the normal voltage drop present therein by virtue of the field voltage supply across the field circuit capacitor |9. This voltage drop tends to charge the capacitor 14 positively at junction point 69 and negatively atjunction point 15, and the capacitor aids in providing a steady D. C. potential in the resistor 3|, which is negative at the upper or normally positive end 42 thereof and relatively positive at the lower or normally negative end thereof,

whereas the drop in this resistor due to the field voltage has the opposite polarity. The voltage in the resistor 3| derived through the fine speed regulation transformer 65 is called the fine speed regulation voltage and varies in magnitude in proportion to the current flowing through the anode-cathode path of the main gaseous discharge tube 2|.

The efiect of the fine speed regulation voltage is to make the voltage applied to the cathode 38 of the auxiliary gaseous discharge tube 25 increasingly negative with respect to the anode voltage of that tube, so that, for a prescribed setting of the potentiometer arm 5|, the auxiliary discharge tube 25 will fire earlier in the charging cycle of the charging capacitor 26 with increasing current fiow through the main discharge tube 2|, and thereby produce a control pulse at the grid 6| of the main gaseous discharge tube 2| earlier in the conductive half cycle thereof when the current through the main discharge tube is increasing. Thus, when the motor |0 slows down, the coarse speed regulation effect automatically biases the main gaseous discharge tube 2| at its cathode 34 to fire earlier in its conductive half cycle, and the fine speed regulation effect further biases the same tube at its grid 6|, this time through the speed control system, to fire still a little more early in the conductive half cycle. Even more simply, the increase of current flow through the main gaseous discharge tube 2|, that results when the cathode bias is changed, due to a drop in the back E. M. F. of the motor, engenders still another increase in the same current flow in proportion to the then existing total current flow, thereby affording operation in the nature of a vernier speed regulation tending to maintain the motor speed constant within very narrow limits.

The main discharge tube 2|, the armature H, and also the load or machine which may be driven by the motor It are protected from damage caused by overload conditions by means of a limiter circuit generally designated by the reference numeral 80. The tube 2| and the armature II are protected by this circuit from excessive currents, while the driven load or machine is protected from injuries which might resultif the torque should reach a dangerous value in the event that the machine should happen to jam. The limiter circuit consists essentially of a diode section 8|, having an anode 82 connected to the junction 84 of the resistor 49 and the phase-shift circuit 48, and a cathode 33 which is connected to the negative end 24 of the first voltage divider 31, via resistors 12, 3| and 32 in series. The cathode 83 of the limiter is thus connected in common with the cathode 34 of the main gaseous discharge tube 2| to the high voltage side of the armature H, and its potential is accordingly coarsely regulated by the back E. M. F. of the motor H), with respect to the potential of the anode 82. The fine regulation afforded by the voltage drop across resistor 3| derived via the transformer 65 in the anode circuit of the main gaseous discharge tube 2| is superimposed upon the coarse regulation in the manner described above in connection with the auxiliary gaseous discharge tube 25 and applied to the cathode 83 of the limiter 80, the voltage drop across resistor 12 being, in this case however, included in series with that across resistor 3|.

An additional bias, opposite in sense to that of the fine regulation and in series therewith, is applied to the cathode 83 by means of a resistor t5 and a capacitor 86 in parallel connected between resistor 12 and the cathode 83. The capacitor 86 is charged with the side connected to the cathode 83 positive by way of a second diode section 81 from an alternating current source, illustrated as the generator 88, through the transformer 89. This transformer has a secondary winding 92 which is connected at one side to the anode of the second diode section 81 and at the other side to the negative side of the capacitor 86 via a charging resistor 93. The transformer 89 is representative of any suitable means of applying alternating current to both the phase-shift circuit 48 and the bias-producing circuit of the second diode section 81. Those skilled in the art to which this invention relates will recognize that separate transformers could be used, if desired.

When the motor It is started from a rest condition, the back E. M. F. across th armature II is zero volts, so that the potential of the negative end 24 of the first-mentioned voltage divider 31 is practically the same as that of the common terminal I8 of the autotransformer I' l. The potential of the cathode 83 of the limiter 89 is then the algebraic sum of the drops across each of the resistors 32, 3|, 12 and in series. The anode 82 of the limiter will have a potential depending upon the setting of the reference voltage tap 5| of the speed control potentiometer 52. The voltage drop in the lowermost resistor 32 of the voltage divider 31 is fixed, while that in each of resistors 3| and 12 will be large and in opposition thereto by virtue of the fact that a large current will be flowing in the primary winding 68 of the fine speed regulation transformer 65, since the cathode of the main gaseous discharge tube 2| is at its lowest possible potential level. The voltage drop across resistor 85 is likewise fixed. Under these conditions, the cathode 83 of the limiter will assume the most negative value possible. Should the reference voltage tap 5| of the speed controlling potentiometer 52 be set for a sufficiently high reference voltage value to cause damage to the main discharge tube 2| or to the armature H or to a stalled load or machine connected to the motor H], the limiter diode section 8| will reduce the reference voltage at point 84 to a safe value, since the diode section 8| is inherently of such a nature that a :cgesases discharge thereacross occurs when the voltage at this point 84 exceeds a prescribed value above the potential of the cathode 83. During such discharge, the resistor 49 between point 84 and the reference voltage tap limits current flow and causes a voltage drop due to the current that flows. With properly adjusted bias, particularly that afforded by the capacitor 86 and resistor 85 in parallel, the starting current is limited by the limiter circuit 8% so that the main gaseous discharge tube 2| is not burned out, nor is the armature overheated, nor will a stalled machine or the work in it be damaged.

As the armature picks up speed, the back E. M. F. of the motor H3 is applied to the negative end 24 of the voltage divider, raising the potential level of point 24 in a positive direction above the common terminal |8 of the autotransformer l4. This has the effect of raising the potential of the cathode 2-3 of the limiter toward the potential of reference voltage tap 5| oi the speed control potentiometer 52. Simultaneously, the current in the primary winding Elli-of the fine speed regulation transformer 55 is reduced and the bias afforded by the resistors 3| and'IZ-in series is reduced in proportion. This is the reverse of the Vernier action discussed above in connection with slowing down of the motor ID, and'has the effect of a Vernier regulation, in a positive direction, of the potential at 1 the cathode 83 of the limiter 8b. The anode 82 of thelimiter must now reach a greater positive potential level before the limiter diode 8| breaks down. Thus, the potential at point 83,

andv accordingly the bias of the control grid 44 of the auxiliary gaseous discharge tube 25, is raisedas the motor picks up speed. As will be pointed out below. this operation can be arranged so that the current through the armature H is maintained substantially constant, or provided circuit 89 may be termed a bootstrap limiter.

The limiter circuit 83 has another valuable feature in that, when the load on the motor H] is increased, causing the armature H to slow down, so that the current that passes therethrough begins to rise, will not only limit the maximum current that will be made available to the armature ii through the main gaseous dis charge tube it, but, if the load becomes toolarge so that thespeed of the motor cannot remain the current flowing through the armature H is 1 not sufficient to maintain the motor Ill in operation against a load greater than that at which constant speed is possible. As the armature i 5 under an overload slows down below such a speed, the negative bias afforded at the cathode 83 of 10 the limiter by the coarse and fine regulations together becomes so great that the reference voltage at point 84 "becomes too low to maintain the motor in operation. In this connection, it should be bornein mind that resistor '12 affords a fine speed regulation bias to 'the cathode 83 of the limiter diode 81 above, and in addition to that afforded by resistor 3|, which additional bias is not available to the cathode 3B of the auxiliary gaseous discharge tube 25. In this condition, the armature remains etched with a limited current flowing though it. If this limited current should be excessive for the armature and not for the main gaseous discharge tube 2!, thermal overload relay means may be provided to open the armature circuit within a safe period of time.

The limiter may be employed in such a manner as to provide the characteristics of a. series, shunt, or compound-wound motor. The circuit conditions that will bring about each of these characteristics will be best understood in connection with Fig. 4.. In this figure, curve 3 represents the compound-wound characteristic, wherein, for motor speeds between very close to zero revolutions per minute up to almost 2,000 revolutions per minute, the armature current is substantially constant at 2.3 amperes. To obtain this characteristic, resistors 28 and 29 'of the first voltage divider 31 and the coupling resistor 49 connected between the reference voltage tap 5| and the limiter anode 82 may "each have a value of 1 megohm in the circuit of Fig. 1.

Curve A of Fig. 4 illustrates the series Wound characteristic, wherein high starting current, of the order of 3.4 amperes, is employed to provide high starting torque, and the running current has a lower value of the order of 2.75 amper'es. This characteristic is valuable when the load or machine that will be driven by the motor I0 is of a type that does not jam and cause stalling, but is, nevertheless, surfioiently massive to require greater torque upon starting than for normal running. The series wound characteristic can be obtained by adjusting resistors 28 and 29 to 0.5 megohm each and resistor 49 to 0.33 megohm.

Curve C in Fig. 4 represents the characteristic that is desired when the load or machine that will be driven by the motor is of a type which does not require large starting torque, but is apt to jamduring normal operation, and stall the motor more frequently than is ordinarily the case. Accordingly, the stalled current is less than ampere through the armature, while the normal running current is as high as 2.75 amp"- eres. This characteristic can be arrived at by adjusting resistors 28 and 29 to be 0.5 megohm each, and adjusting resistor 49 to be 1 megohm. With this characteristic, the motor will attempt to drive through a jammed load, but, if this proves to be too difiicultand the motor slows down, the motor current will gradually fall to a safe value which cannot burn out the armature H or damage the main discharge tube 2|, so that thermal overload relays which may be provided will not trip. When a machine so equipped stalls the motor m, it is necessary only that the operator take steps to clear the jam and the machine will immediately reassume a normal operating condition.

It should be understood that the resistor values set forth in connection with 4 are exemplary only, and that a wide variety of torque vs. load characteristics may be obtained by designing the 'sistors. Fig. 1 is unaltered. These changes are made bethe two resistors I24 and I25 in series.

. circuit to have the desired limiter characteristics with respect to motor speed.

Referring now to Fig. 5, the circuit of the volt- .age divider 3! may be modified to the extent that the negative end 24 thereof is provided with la voltage which is a fraction of rather than the total back E. M. F. of the motor ID. A voltage The Fig. l, to the junction point I26 of these two re- With the exception of these changes,

tween two points I2I and I22 in Fig. 1. The back M. F. which appears across the armature II when the motor I is running appears also across The portion of the back E. M. F. that appears across resistor I 25 is connected at point I 26 to the voltage divider 31, so that point I26 in Fig. takes the place of the negative end 24 in Fig. 1. The

result of this change is to permit coarse regulation of a high voltage motor with a control circuit designed for use with a lower voltage motor.

Thus, if the circuit of Fig. 1 is designed for use with a 220 volt motor, a 330 or 440 volt motor may be controlled with it by making the change set forth in Fig. 5 and suitably adjusting the values of the two resistors I24 and I connected across the armature II.

The circuit of Fig. 1 may be further improved by the inclusion therein of a voltage regulator tube I3I as shown in Fig. 6. The tube may be connected across the field winding I2 in series with a resistor I30, the cathode I33 thereof being connected to the negative end of the field winding and the anode I32 being connected to the positive end of the field winding through a resistor I30. The resistor 53 of Fig. 1 which connects the speed control potentiometer 52- to the positive side of the field voltage is, in Fig. 6, connected to the anode of the voltage regulator tube I 2!. No other change is necessary in the circuit of Fig. 1 in order that the voltage regulator features of Fig. 6 may be incorporated therein.

The voltage regulator tube I 3| may be of the VR-l50 type when a field voltage of about 200 volts D. C. or more is employed. The field voltage is then a value which is always a constant, 150 volts, plus an increment which is proportional to line voltage. Thus, a large change in line voltage results only in a proportional change in a small incremental voltage of the order of 50 volts, so that the total field voltage change is comparatively small. Where the field is operated near saturation as is commonly the case in efiiciently operated electric motors, this provision results in more nearly stable operation with line voltage changes. Since the voltage regulator tube I3I governs also the voltage that appears across the speed control potentiometer resistor 52, the speed control reference voltage which is set by the movable tap 5! thereof is similarly stabilized, thereby effecting corresponding stabilization of the current through the armature I I with changing line voltage conditions. The value of the field winding series resistor I! can be adjusted so that, with a prescribed change in line voltage, for example, 10 per cent, the change in motor speed will be so small as to be immeasurable, but as will be explained below, this resistor is preferably so adjusted that, with a 10 per cent change in'line voltage, there is'no more than a 2 per cent change in motor speed.

The voltage regulator circuit of Fig. 6 reduces the magnitude of changes in the motor speed with changes in the temperature of the motor as well as with changes in the field voltage, when the field series resistor I7 is suitably adjusted in magnitude. When the motor temperature increases, the resistance of the field winding I2 also increases. This tends to lower the field current, which, by reducing the back E. M. F., would normally cause the speed of the motor I0 to increase. As a result of the increased resistance of the field winding I2, the voltage at the negative end thereof becomes more negative, approaching more closely the value of the common negative terminal I8 of the circuit. This correspondingly reduces the voltage of the cathode I33 of the voltage regulator tube I3I, and lowers the total applied voltage between the movable arm 64 of the maximum speed setting potentiometer 54 and the common negative terminal I8. As a result, the reference voltage at the speed control potentiometer movable tap 5| is made less positive with respect to the common negative terminal I8, so that through the control circuits, as explained above, the armature current is reduced, tending to reduce the speed of the motor. Thus, the motor speed, instead of increasing as a result of increased resistance in the field coil I2, is stabilized. The value of the series field resistor Il can be adjusted so that, with a 10 per cent change in the motor temperature, there is an immeasurably small change in motor speed. However, as a compromise, it is preferable to adjust the magnitude of this resistor to such a point that, with a 10 per cent change in either the temperature of the'motor or the line voltage, the speed of the motor remains constant within 2 per cent.

Fig. 7 illustrates the invention embodied in a full wave circuit. The various elements and features of Figs. 1 and 5 are reproduced in Fig. 7, once for each half cycle where necessary, while those elements and features which are common to both half cycles occur only once. Like parts have like reference characters in Figs. 1, 5 and 7, with the exception that where a part occurs once for each half wave it is provided, for one-half cycle, with the same reference character as in Fig. 1 and, for the other half cycle, with the same reference character primed. The bias 98 of the main discharge tube 2| of one-half cycle and the bias 98' of the corresponding main discharge tube 2I' for the alternate half cycle are provided by means of a transformer I40, having its secondary winding I42 connected at each end to one of the control grids 6I, BI, respectively, and at its center to the positive side of the armature II. The primary winding I4I of this bias transformer is energized from a source of alternating current, represented by a generator I43, which may be the same source as is applied to the main input terminals I3, and is of the same frequency and phase as the main power source. The main power transformer, namely, the autotransformer, is represented as having two parts I4 and I4 joined at the common point I 8 of each to provide a center tap at that point in the circuit. When the upper end 22 of the autotransformer I4, I4 is positive, the lower end of the secondary winding I42 of the bias transformer I 4i! furnishing bias 98 is also positive, so that a bias is provided on the control grids 5I and 6| of the main discharge tubes 2I and 2|, respectively, which bias is alsesame ways suchtas toaprevent conduction; through the respective: tubesa Control of the firing or the main: discharge tubes 2t, 2! is'the function of the auxiliary discharge tubes 2'5, 25' as has been explained above. The main power input terminals .l3- are connected one "to" each autotranstonnes section M, I26" at equal distances from the center tap or common point it.

The phase shift circuits 48', 48 are both. pro" videdwith alternating: current from the secondwindin'gf 94,1 shown in Fig.- 7' asf'pa rt oi'a separate transformer 89', having 9, rimary winding 9|" connected to a; source of alternating current, which: is conveniently represented. as a generator 88', vfurnishingcurrent Of'like phase and: frequency as the main power source The phase-shift circuits 48*, 4'8 are connected: inparallel to the secondary windmg 94 in the proper manner to furnish properly phase shifted alternating 601112131 voltages t6 the control grids. of" the: auxiliary gaseous discharge tubes 25",; 25', respectively, in: the: manner' illustrated in. Fig; 3.: The. secondary windings of the trans:-

former 36 which supplies alternating-voltage: to"

upper end of the autotranstornier M, W is pcsi- .1;

the;

The junction. point between resistors" 11 and lziandthe junction pointbetween resistors: H and 12' are connected together'bymeansof a; conductorl 48'. This connectionprovides a closed circuitconsisting otresistors l2, 3t, 32", 32, 3! and 11", which is connected at the junction: point tea-between. resistorszt-z and 3 21 to the common terminal. [8 oifthe oircui-t by' way of: resistor 125 o! theiarrhalture shimt voltag'e divider. Ju'r i'c tl'onpoint N3 will be recognized as corresponding to thenegatizve end M of the voltage divider 31' of Fig... and its. conuectiori in' the circuit is in accordance with Fig.- 5, but may he as in 1', it desired;

In operation, it is'desired that the discherg'e tubes 2| and It" shall draw substantially equal currents during: alternate half cycles; The resistors on either' side ct junction point Moore so chosen that the" currents through the two:

discharge tubes 21!, it are substantially equal, Normally, this requiresthat the total resistanceson. eltl'lBf SfdP; of this point we shall. be equal. However, should. one of the-main dischargetuhes, for example; 2 i, drawn-ore current the other; 2 l", the junction point 69' between resistorsat and 32' will become more: positive thsnthe junction point het'ween'resistcrs 31" anctaz", for the reason that thevolta'ge drop across resistors 752 and 31 series becomes greater'than the: voltage drop-across resistors l2 and 31:" inseri'es, it: being remeniber'edthat points Wendi P5 are connectedtogether. Under this condition, electronsflow from point- M8 topoint 69:." chargingthe lower side of each: of capacitors Hi3 and I03 negatively with respect to the upper side. Thejunction point r51 of these two capacitors is connected to the positive side of the arznw t'ure' I' I andthrough the armature tothe common terminal [8, whereas the unidirectional referencepotential provided by the reference voltage tit-p W is also established: with reference to the-some common. pointztt. Accordingly'the cathode 38 or: the: upper auxiliary discharge tube 25 is made more positive with respect to its controlgrid 'M,

14 whilerthe'calthode 38 of the-lower auxil iary dischargetube 25' is mademorenegative with re spect to i-tscon'trol grid 44- at the same timei This causes adecr'ease in the current fiow'through the uppermain discharge tube 21, and an in-= cr'easein the current flow through thelower main discharge tube 2 t, thereby tending to bail-- once the current flows through these two tubes.- This feature'of the" invention is aptly termed automatic balance, forthereason that, with this feature, the current flowing through the motor during'successive'ha3l'f cycles of the alter Ila-ting source tends to become automatically bal a-nced. Manual balance of the full-wave circuit, that is, adjustment by hand to approach a condition in which the circuit will alwaysrem'ain: in balance, is effected by properly choosing the resisters involved in controlling the current through each main dis harge tube' 20, 2| including resistors'll and H, respectively; lidssired, resistors 'H' and H c'an he in the form. of potentiometers iniordei" to afford'ma nual adjust ment of each side of the circuit.

It will be appreciated that the strings of resist'ors H, 12,. 3-l, and:32, cell, 72', 3! and 32 oh either sideof the common junction p'oint tfl provide many functions. As has been shown. above, fine speed regulation is accomplished through these resistors and. the limiter 8Wiunctions through its comiectioht'o the junction point 15,15 of these two resistor strings. As had just been pointed out, both manual and. automatic ba lance'o-f a; ful l wave circuit are also accentnamed with the're'sistors of these two series strings.

The circuits of the present invention are readilyadaptable to improved: forms of: braking and reversing, for example, as shown. in" Fig. 8'. The braking and. reversing control circuit of this fie ure advantageously combines dynamic brakihg' for: quickly reducing the speecl of the armature fromv a. high speed to a; low speed, andreversecurrent or" tube-braking for completely stopping and: reversing the motor:- The circuit of Figs 8' includes a: system. of low power initiating relays Hi1 and l szcfor forward and reverse: control, re spectively; cooperating. with heavier duty relays its and tfiicontrulled, respectively, thereby, to gc'ther with. a. dynamic brake -control relay This circuit isillustrated 'as it would. be'appliedto the speed control circuit of Fig. 1, and parts which. are alike in both figures hear shnila' rrefi erence' characters. Powenforf the initiating re laysr I6! W2: is: furnished through th'efi'eldi winding mg'bein'g the-voltage drop across'th'e: series field resistor t1, so that, if the field is lost due toan" open circuited fiel d winding; or an other cause, the motor will be stopp'ed'by opera; tiionof the various 'control'circuits' as will he ole scribedain detail below. Forward and reverse: manually-operatedpush-button controlswitches [so and :69", respectively; arranged in" circuit with a manually-operated; normal y-closed push-'- lsutton stop switch l'lifi across the seriesfield resistor I'l Thefoi'ward'switch tfifi'ha's a parrot contacts imi'wliich are normally closed thereby, anda pair of normal-w aponcontacts H3. The reverse switch Hill has a; pair of normally-closedcontacts H5"- and a pair of. normally' open contacts H 51 The forward normally-open contacts" I13" are: in series with the forward initiating! relaiy tit, and a: normally-closed switch I78 which operated to openposition by the reverse heaivy-duty relay 163 when that relay is "ones: g'i zed; The forward initiating relay t6"! ispro '15 vided withtwo normally-open switches I8I and I82 and two normally-closed switches I83 and I84, the condition of each of which it changes when energized, by moving each switch operator member to the left. When the forward pushbutton control switch I68 is pushed to the right to close the normally-open contacts I13 thereof, the forward initiating relay I6I is energized, closing its normally-open switch I8I which provides a holding circuit around the forward normallyopen contacts I13 through the reverse normallyclosed contacts I15. Thus, momentary operation of the forward push-button control switch I68 energizes the forward initiating relay I6I, closing also the remaining normally-open switch I82 thereof and opening the normally-closed switches I83 and I84 thereof. Normally-closed switch I83 is part of a first shorting circuit including in series therewith a normally-closed switch 283 of the reverse initiating relay I62, which reduces the reference voltage at the reference voltage" tap I of the speed control potentiometer 52 to the value of the common terminal I 8, so that the motor cannot turn when this shorting circuit is closed. The first shorting circuit is connected in parallel with condenser 58, and includes a resistor 2 I5 in series with the switches I83 and 283. Normally-closed switch I84 is part of a second shorting circuit including in series therewith a normally-closed switch 284 of the reverse initiating relay, which reduces the bias of the cathode 83 of the limiter 88 to so low a value that the motor cannot turn. The second shorting circuit is connected across the resistor 85 in the limiter diode fixed bias circuit. With the normallyclosed switches I83 and I84 both open, the motor can be operated. The normally-open switch I82 being now closed, the forward heavy-duty relay I84 is energized by the voltage between a terminal I86 on the autotransformer I4 and the common terminal I8 thereof through a normally-closed switch I88 of the dynamic braking relay I65.

' The forward heavy-duty relay I64 is provided with a first normally-closed switch I9I, a second normally-closed switch I92 and two normallyopen switches I93 and I94, the condition of each of which it changes when energized by moving the operator thereof to the left. The first normally-closed switch I9! is in series with the reverse initiating relay I62, and when opened interrupts the circuit of this relay so that it cannot he accidentally energized. The second normally closed switch I92 is in series with the dynamic braking relay I65 across the armature II and, when opened, prevents this relay from being operated. A dynamic braking resistor I95 is in parallel with the dynamic braking relay I65. The two normally-open switches I93 and I94 are arranged in series with the armature II, one on each side thereof, in its circuit from the high voltage point 22 of the autotransformer I4 through the discharge tube 2i to the common terminal I8. When the normally-open switches I93 and I94 are closed, current flows through the armature II from left to right in Fig. 8.

The starting circuit for causing the motor to operate in a forward direction has just been traced. The motor can be stopped by operating the stop switch I18 to an open circuit position whereupon the circuit of the forward initiating relay I6I is interrupted. This closes the normally-closed switches I83 and I84 of the forward initiating relay, so that the electronic control circuit of Fig. 1 is in a condition to stop the motor. The normally-open switches I8I and I82 16 are opened, removing the holding circuit around the forward control switch I68 and opening the energizing circuit of the forward heavy-duty relay I64. As a result, the normally-closed switches I! and I92 are closed and immediately the :armature II furnishes current to the dynamic braking resistor I95 and to the dynamic braking relay I 65 in parallel. The dynamic braking relay is provided with first and second normally-open switches I91 and I 98 in addition to the normallyclosed switch I88, the condition of each of which it changes when energized by moving the operator thereof to the left. When the motor speed is of sufiicient magnitude to operate the dynamic braking relay, the normally open switches I91 and I98 are closed, providing additional short circuiting paths in parallel with the aforementioned first and second shorting circuits, respectively, between the reference voltage tap 5I and the common terminal I8 and across the limiter bias resistor 85, respectively. Opening of the normally-closed switch I88 of the dynamic braking relay I65 furnishes additional interruption of the circuits of both the heavy-duty relays I63 and I64. As is well known, the dynamic braking voltage furnished by the rotating armature across dynamic braking resistor I95 decays exponentially. When the speed of the armature I I drops to a value so low that the voltage provided thereby across the dynamic braking resistor I95 is below a certain critical value, the relay I65 falls out, and the switches I88 and I91 and I98 thereof assume their normal conditions, and the motor coasts to a stop.

The motor may be reversed as well'as stopped by a single operation. Assuming the motor to be in a forward rotating condition, consider the sequence of events that occurs when the reverse control switch I69 is operated rather than the stop switch I18. To reverse the motor, the reverse switch I69 is pushed to the left in Fig. 8, whereupon the normally-closed contacts I15 thereof are immediately opened, interrupting the holding circuit of the forward initiating relay I6I. The effect of this operation is the same as the effect of opening the stop switch I18. Continued operation of the reverse switch I69 to the left closes the normally-open contacts I16 thereof, causing current to flow through the reverse initiating relay I62, which operates the normallyopen switches 28I and 282 thereof to the left to closed positions and the normally-closed switches 283 and 284 thereof to the left to open positions.

The first normally-open switch 28I of the re-. verse initiating relay is in circuit with the normally-closed contacts I12 of the forward control switch I68, and, when this switch is closed, a holding circuit is provided for the reverse initiating relay I62 in parallel with the normally-open contacts I16 of the reverse control switch I69. The

second normally-open switch 282 of the reverse,

initiating relay I62 is arranged in series with the reverse heavy-duty relay I63 across the heavyduty relay voltage source, namely, the portion of the autotransformer I4 between points I86 and I8 thereof, again in series with the normallyclosed switch I 88 of the dynamic braking relay I65. The reverse heavy-duty relay I63 is provided with the aforementioned normally-closed switch I18 in the circuit of the forward initiating relay I6I, and a second normally-closed switch 286 which is in series with the dynamic braking relay I65 and the dynamic braking resistor I95 across the armature II, together with first and second normally-open switches 281 and 288, the

condition of each of which-it'-changes when eii' ergized by moving the-operator means therecfi to the left; Tnenormally-open sWitCh'esZfi'Fand 208 are arranged in series with the armature- H3 and when closed provide current therethroue'li from right to left in Fig. 8 from the high voltage terminal- 22 of the autotransformer H through the maindischarge-tuhe 2i andto'theccm 1 terminal iii. The circuits through the n'ormall opensv/itches i 93 and i i ofthe for ward lieaiv duty relay lfidand throughthe-normally open" switches 20'! and 26'8of the reverse heavy-duty: relay IE3 are in parallel between points:- 2 H- and 2-l2 irl-the armatureoircuiu The fiinet'ion of thenormally-closedswitch I TB-i's to prevent-energiza tion of the forward-initiating relay" I51 during the-time thatthemotor is-b'eing cperated-iii tl ie' reverse direction.

Thus, when the reverse-push-button control switch- I ea is operated-to reverse the meter 'froma-forward" running condition, themotoris-fir'st operated-to a stop condition, whereihth'e dy namichraking resistor 155 reduces it's speed a'nd the dynamic braking relay- I55 prov-idea shunt paths whichreduce the speed control rererence voltage to zero andthe limiter bias toa point where little or no cur-rent canflow through tl'ie armature II, as Well assimultaneous-1y op'e'n ingthe power circuits of both the'heavyduty relays I62 r and i841- Atth'e same time; adiolding circuit is established for: the reverse initiat-- ing relay l e2 -by theclo'sing'o f: the first normally open switch iti there-cf, while-the closing of the second normally-open switoh- 22-6-2 thereof dis poses the: reverseheavy-duty relay to be oper-" ated as-soon as the djuiarnic-braking relay- H35 falls outand closes the normally ciosed switch" lil thereoft The dynamic brake relay falls out at a prescribed valueof armature voltage at Whichvalue it is safe and expedient to apply reverse current through the armature H by means of the maindischargetube 2& A-t' this time, the normally openswitches: i9 3 and I93 of the dynamic braking relay Vie-a reopened-- so that the electronic control circuit off Fig-l L can again establish the ultimate-speed of the motor;

Referringnow toFig. 9-,.this is a graph illustrating" the characteristics of dynamic braking and reverse-current braking with two-curves: A; and B, respectively. Curve A in: are; 9 illustrates that" the braking current versus time ofa;- typical. motor decays exponentially, heing ini tially quitelarge,.for example, 40 amperes' for 206 volts applied across the armature, and q-uite small after an elapsed'time. Curve B illustrates that tuberbralring is of a nature to f-urnish substantially constant current. The larger ciir rent of dynamic braking is desirable at the start, and the constantcurrent of tube brak ing is desirable when the 'dynamic hrakirra'i-cii-r rent has fallen below the tub'e'constant current value. The dynamic braking. relay I65 of is' arranged'to fall out'and permit thereversing current to flow through the 'a'rmature" ii when the dynamic braking, current falls below the tube-braking current level'or very soon tnere after. Thus, the reversing circuit of the'presen't invention advantageously combines. in a" circuit which can be operated by one motion, the dc sirable characteristics: ofboth dynamic and reverse current or tube braking. The result" istheability to smoothly slowdown,stori arid re verse an electric motor of alarge size in a minimum of elapsed time and -with no rlotice' able chatter and-vibration; Thacir'cuit' ofi Figl a 1 8' is eminently suited for usewith the speed com trolcircuit of Fig; 1;

Many variations and modifications of the invention will occur to-tho's'e who are skilledin the artto-which the" invention relates, and it is a'c cordingiy intendedthat the claims that shall follow shallnot be limited, but only illustrated; by the detailsor the" various embed-a ents or the invention shown and described herein.

What is claimed is:

l. In combination with an electric motor having-an armature and-a; field winding, a system for aerating said in'otor froin a periodic volt su pply comprising input terminals adapted to be connected to a periodic voltage supp1y,a

rid-controlledgaseous rectifier co'nne'cted inseries with said" armature across saidterinina'ls, a relaxation oscillator" circuit dimensioned to proride a relatively sharp voltage pulse of shorter period than that of said supply during each period of said supplflmeans providing co'nt'r'ol of the point inl'saidsup 'periodwhensa pulse occurs, a'ndcirouit means furnishing saidpulse to the control-grid or" said rectifier.

2. In combination with an electric motorhaving; an armature and-=- a field winding, a systemior operatingsaid motor from a-periodic'voltagesupplycomprising. input terminals adapted tobe connected to a periodic voltage supply, a first grid-controlled gaseousdischarge tube having a cathode connected to a first side of" said armature" and an anode connected to a firstof said terminals, the'sec0nd side of said armature be ing.v connected. to the second of said terminals,- means providingia scuroe Or -unidirectional voltage connected: at one: pointto" a point oi said supply, a second grid co'ntrolle'd gaseous di's charge tube having its anode-, connected to the positive side of said unidirectional source and its cathode connected to saidfirst side of said armature, resistance means in each oi said connections,. a" charging capacitor comlect'ed be tween said second tube anode apointinsaid second tubecathode connection, a pulsetransmissive connection between said second tube cathode: and said first tube control grid? said second tube resistances ahd saidcharging ca pacitor being dimensionedso" that when said second tube is rendered conductive relaxation oscillations occurat-a period shorter than thatof. said supply, and meansihr rendering said second tube conductive"at azprescriided point in said supply period.

3; Incombination with-anelectric motor hav ingi an armature and afieldwinding', a system said armature across saidterminals, a grid eontrolled relaxation oscillator circuit dimensioned to provide a voltage pulse when the'grid'poteritialthereoi" is raised above a prescribed firing potentiab rroma lower potential, means coupling the output oi said circuit to the grid 0; said rectifier, means" providing a firing pot ntialto" said circuit, 2; Voltage" limiter inc 4% an anode-cathode electrontub'epath connected to short" circuit said" firing potential" via said armature.

4 In combination with an electric motor hav ing an ar matureand-a field'wind'ing; a system for operating sa'id" motor from" a periodic voltage supply 'coniprisirig inputt'errninals adapted to be connected to a; periodic voltage supply, grid:

controlled gaseous discharge tube having its anode-cathode path connected in series with said armature between said terminals with its cathode connected to one side of said armature, a gridcontrolled relaxation oscillator circuit dimensioned to provide a voltage pulse when the grid potential thereof is raised above a prescribed firing potential from a lower potential, means coupling the output of said circuit to the grid of said tube, means adapted to provide firing potential connected at one point to one of said terminals and an electron tube voltage limiter including an anode connected to said last-mentioned means and a cathode connected to the cathode of said tube.

5. In combination with an electric motor having an armature and a field winding, a system for operating said motor from a periodic voltage supply comprising input terminals adapted to be connected to a periodic voltage supply, a gridcontrolled gaseous discharge tube having its anode-cathode path connected in series with said armature between said terminals with its cathode connected to one side of said armature, a grid-controlled relaxation oscillator circuit dimensioned to provide a voltage pulse when the grid potential thereof is raised above a prescribed firing potential from a lower potential, means coupling the output of said circuit to the grid of said tube, means adapted to provide variable unidirectional potential connected at one side to the armature supply terminal, and means adapted to provide {periodic voltage of the same period as said supply but substantially one-quarter period lagging in phase connected in series with said unidirectional potential means to said oscillator grid.

6. In combination with an electric motor having an armature and a field winding, a system for operating said motor from a periodic voltage supply comprising input terminals adapted to be connected to a periodic voltage supply, a gridcontrolled gaseous discharge tube having its anode-cathode path connected in series with said armature between said terminals with its cathode connected to one side of said armature, a grid-controlled relaxation oscillator circuit dimensioned to provide a voltage pulse when the grid potential thereof is raised above a prescribed firing potential from a lower potential, means coupling the output of said circuit to the grid of said tube, means adapted to provide variable unidirectional potential connected at one side to the armature supply terminal, and means adapted to provide periodic voltage of the same period as said supply but substantially onequarter period lagging in phase connected in series with said unidirectional potential means to said oscillator grid, and an electron tube voltage limiter including an anode connected to said oscillator grid and a cathode connected to the cathode of said tube.

7. In combination with an electric motor having an armature and a field winding, a system for operating said motor from a periodic voltage sup ply comprising input terminals adapted to be connected to a periodic voltage supply, a first gridcontrolled gaseous discharge tube having its anode-cathode path connected in series with said armature between said terminals with its cathode connected to one side of said armature, a second grid-controlled gaseous discharge tube connected in a relaxation oscillator circuit with its cathode connected to the first tube cathode through resistance means and coupled to the first tube control grid, means adapted to provide unidirectional potential connected at the positive side to the anode of said second tube and at the negative side to one of said terminals, means adapted to provide variable unidirectional potential connected at one side to the second tube control grid and at the other side to one of said terminals, and means adapted to provide periodic Voltage of like period to said supply and onequarter period retarded in phase with respect thereto connected in series with said variable potential means and the second tube grid.

8. In combination with an electric motor having an armature and a field winding, a system for operating said motor from a periodic voltage supply comprising input terminals adapted to be connected to a periodic voltage supply, a first grid-controlled gaseous discharge tube having its anode-cathode path connected in series with said armature between said terminals with its cathode connected to one side of said armature, a second grid-controlled gaseous discharge tube connected in a relaxation oscillator circuit with its cathode connected to the first tube cathode through resistance means and coupled to the first tube control grid, means adapted to provide unidirectional potential connected at the positive side to the anode of said second tube and at the negative side to one of said terminals, means adapted to provide periodic voltage of like period and phase to said supply connected in series in the connection to said second tube anode, means adapted to provide variable unidirectional potential connected at one side to the second tube control grid and at the other side to one of said terminals, and means adapted to provide periodic voltage of like period to said supply and onequarter period retarded in phase with respect thereto connected in series with said variable potential means and the second tube grid.

9. In combination with an electric motor having an armature and a field winding, a system for operating said motor from a periodic voltage supply comprising input terminals adapted to be connected to a periodic voltage supply, a first grid-controlled gaseous discharge tube having its anode-cathode path connected in series with said armature between said terminals with its cathode connected to one side of said armature, a second grid-controlled gaseous discharge tube connected in a relaxation oscillator circuit with its cathode connected to the first tube cathode through resistance means and coupled to the first tube control grid, means adapted to provide unidirectional potential connected at the positive side to the anode of said second tube and at the negative side to one of said terminals, means adapted to provide variable unidirectional potential connected at one side to the second tube control grid and at the other side to one of said terminals, and means adapted to provide periodic voltage of like period to said supply and onequarter period retarded in phase with respect thereto connected in series with said variable potential means and the second tube grid, and an electron tube voltage limiter including an anode connected to said second tube control grid and a cathode connected to the positive voltage side of said armature.

10. In combination with an electric motor having an armature and a field winding a system for operating said motor from a periodic voltage supply comprising input terminals adapted to be connected to a periodic voltage supply, a first grid-controlled gaseous discharge tube having its tube catanode connected to a first of saic' terminals; said armature being connected between the second of said terminals and the cathode of" said first; tube, a second grid-cc-ntrolled' gaseous discharge tube connected in a re asation oscillator circuit with its cathode resistivsiyconn ected' to the first :ie and non'ccnductively coupled to-tiie first tub contro-lgrid, meansadapt'ed toF-provide unidire nai potentiai connected at theposi this side to the anode of said second tub'e-and at the other side to said" second term'inali means adapted to provide variable unidirectionai poten tial connected at one side to one o'f said t'erini-- nails and at the other side to the second tube control grid, andmeans adapted-to provide periodic' voltage of like period tosaid'supplyand onequarter period retarded in phase with-respect thereto connected in series with-said variabig po tential means and the second tube grid:

11'. In combination'with-ancictric m'otor'having" armature and a fieid'winding; a system for operating said motor from aperiodi'c'voltage supply comprising input terminals adapted to be connected to aperiodic"voltage'supply, a first grid-controiied gaseousdis'charge tube having its anode connected to a first o'i-said terminals, saidi armature being connected between the second ofsaid terminals and the cathode of said" first tube, a second" grid-controiied gaseous discharge tube connected in a relaxation'oscillator circuit with its cathodere'sistively connected to the first tube cathode and nonconductively coupled to the first tube control grid, means adapted to provide unidirectional potential connected at' the positive sideto the anode of said second tubeand at the other side* to said" second terminal; means adapted to provide-variable unidirectional potential connected at one'sitieto' one of said terminais and at the other side tothe second tube control and means adapted to provide'periodic voltage of-like' period tos'aid'supply and one quarter period retarded in phase with respect thereto connected in'series'with said variable potential means and the second tube grid; and an electron tubevoitageinniter'includina an anode connected tc'said second tube control grid and a cathode con'n'ect'ed'tosaid first' tube cathode.

12; In combination with an'e'iectricmotor having an armature and afield windingfla system" for operating said motorfrom aperiodic voltage supply comprising input terminals adapted to be connected toa periodic voltage supp1 fu11-wave rectifier means arranged'in two separate'circuits with said armature, separate control meansfo'r each of said circuits arrangedto controlthe current flow in each circuit throughthej medium of first and second'resistors, one for e'ac'hof said circuits, wherein control voltage'sare' arranged" to appear, means applying a voit'age across the. first of said" resistors which is proportional. in magnitude'to the current in'oii'e' of saidci'rcuits; means applyinga voltage across th'esecondi'of said resistors which is proportional in. magnitude to the current in theothep oft saidh'ec'tifier paths, a common connection point-between an end of each ofsaicl resistors and an electrically: neutral point common to both of said circuits; a conductive connection between' the remaining ends of said resistors, and means: employing voIt' ages developed in said networks by reasonof current now through said conductive connection to control the-balance of-cu-rrent fiovfinsaid two' circuits.

22 armature of anel'ctfic motcsm tn'e loaiithei'eof; control: means for re'g-uiating thecur-rent passing in each rectifier path" oi the system including first and second similar resistors each connected at one end to" thesameside of said armature, wherein control voltages are developed; means prons-amuse" across said"first-resistor Whichis rcpcrtionaii magnitude to the current in on'eof said rectifierpaths, means apnl ying a;

vcita' eacrcss' said 56861111 l esi'stoi 'v'ihich i's p1 0 portionarinmagnitude tc-tnc currentin the other of said rectifier: paths. and a; conductive con ne'ction betweeri electi ieallyi similar freniote pointson' both ofi' said resistors; I whereby the existence oif avoltagediiferonca'between said rcmote points causes: an unbalance current flow in said re sister's between s'aid remote points; and: means employing' the. voltages developed in cache. resister by such unbalance Cflflfiiiktti reduce saidz voltage:difier'ence:-

14 Ina full-Wave rectifier." system having the armatureor; an electric motor inthe 'load' the'reof, control means f'opreguiating.the'curirent pass ing: inaeach rectifier path of the systenrincluding first and seccnd similar resistors each connected at one end: to thez-s'ame side' of: said armature-g wherein control: voltages are: developed, means applying ar voltage acrosssaid first resistor Whichis: proportionaliin: nragnitu'd'e' to the; current in one of: said rectifierpaths; means applying; a

voltage across said second? resistor which is: tim porticnaiinzmagnitude to the current'in theother: of; said rectifier paths, a'ndraa conductive connec tion betweenelectrically similar remote points em both or". said resistors, whereby th existence of avoitagiei difference c etw'een-said"remotepoints causes an unbaiance current toz'fio'w in said-re sisters 7 between said remote: points, means emplaying; the voltages: developed in each resistor "by such unbalance current toireduce: said voltage difference; and means connected: to said conductive connection for. applying" speed controi iing voltages: to both of said paths" simuitane ously.

15-. In a-full-wava rectifier system having the armature of-an electric motor in the loa d there of,control meansfcr regulating the currentpass ing in-ea ch rectifier path of thasystem inc luding first and-second similar resistorsteachi connected at one endt'o the: same; side:- of! armatur wherein: control: voltagesare developed; means:

applying; a voita ge. across saidfirstires-istor which is: prcporti-onal in rn'agnitu'de' to the current in one of said: rectifier paths. means applying a voitage acrossz said second resistor which is pro- 1 portionaliin magnitude-itctheicurrent in the othei of: said rectifier, path-as andj-a' conductive. connec tion betweeneietcricaiiyxsimiiar remote: pcint's on" both ofsaid resistors; whereby the: existence of avoltage diffierence between said remote points causes an unbalance current to: flow ih' said re= sisters; between said; remote points, means playing, the-voltages developed in" each resistor by suchunbalance currentwto reduce saidvoltage difference, means connected to said; conduct tive' connection forv applying; speedcontrolling;z

voltages to both ofsaid-paths si-multaneonsiy and anelectron tube voltage limiter including; an a'riodercathode path: connecting said speed-cork trolling voltage means across said armature;-

15. In an electric" motor circuit: a first set of main switch means arranged tomaiie and brealc a forward circuit" through the armature or the motor; a second set fm'ain' switch meansarranged to make and break a reverse circuit- 1-31 In a full-wave rectifier system Having thethrough said amiatm'e' fcrW-ardandreverse'main relay means arranged to operate said first and second sets of, switch means, respectively, power terminals adapted to be connected to a source of voltage, to which said main relay means are connected, forward and reverse normally-open auxiliary switches in the power circuits of said forward and reverse relay means, respectively, forward and reverse auxiliary relay means adapted to close said forward and reverse auxiliary switches, respectively, when operated, forward and reverse control switches each having a set of normally-open and a set of normally-closed switch contacts, and having its set of normallyopen contacts in an operator circuit for the forward and reverse auxiliary relays, respectively, and its set of normally-closed contacts in a holding circuit for the reverse and forward auxiliary relays, respectively, and normally-open holding switch means operated by each auxiliary relay arranged to complete the holding circuit thereof.

17.In an electric motor circuit a first set of main switch means arranged to make and break a forward circuit through the armature of the motor, a second set of main switch means arranged to make and break a reverse circuit through said armature, forward and reverse main relay means arranged to operate said first and second sets of switch means, respectively, power terminals adapted to be connected to a source of voltage, to which said main relay means are connected, forward and reverse normally-open auxiliary switches in the power circuits of said forward and reverse main relay means, respectively, forward and reverse auxiliary relay means adapted to close said forward and reverse auxiliary switches, respectively, when operated, forward and reverse control switches each having a set of normally-open and a set of normally-closed switch contacts, and having its set of normally open contacts in an operator circuit for the forward and reverse auxiliary relays, respectively, and its set of normally-closed contacts in a holding circuit for the reverse and forward auxiliary relays, respectively, and normally-open holding switch means operated by each auxiliary relay arranged to complete the holding circuit thereof, said auxiliary relay means being connected each in series with the field winding of said motor.

18. In an electric motor circuit a first set of main switch means arranged to make and break a forward circuit through the armature of the motor, a second set of main switch means arranged to make and break a reverse circuit through said armature, forward and reverse main relay means arranged to operate said first and second sets of switch means, respectively, power terminals adapted to be connected to a source of voltage, to which said main relay means are connected, forward and reverse normally-open auxiliary switches in the power circuits of said forward and reverse main relay means, respectively, forward and reverse auxiliary relay means adapted to close said forward and reverse auxiliary switches, respectively, when operated, forward and reverse control switches each having a set of normally-open and a set of normallyclosed switch contacts, and having its set of nor mally-open contacts in an operator circuit for, the forward and reverse auxiliary relays, respectively, and its set of normally-closed contacts in a holding circuit for the reverse and forward auxiliary relays, respectively, and normally-open holding switch means operated by each auxiliary relay arranged to complete the holding circuit thereof, a dynamic braking resistor arranged to be connected in parallel with said armature, first and second normally-closed brake control switches arranged in series with said resistor, said first switch being maintained open by said forward main relay during completion of said forward armature circuit and said second switch being maintained open by said reverse main relay during completion of said reverse armature circuit.

19. In an electric motor circuit a first set of main switch means arranged to make and break a forward circuit through the armature of the motor, a second set of main switch means arranged to make and break a reverse circuit through said armature, forward and reverse main relay mean arranged to operate said first and second sets of switch means, respectively, power terminals adapted to be connected to a source of voltage, to which said main relay means are connected, forward and reverse normally-open auxiliary switches in the power circuits of said forward and reverse main relay means, respectively, forward and reverse auxiliary relay means adapted to close said forward and reverse auxiliary switches, respectively, when operated, forward and reverse control switches each having a set of normally-open and a set of normallyclosed switch contacts, and having its set of normally-open contacts in an operator circuit for the forward and reverse auxiliary relays, respectively, and its set of normally-closed contacts in a holding circuit for the reverse and forward auxiliary relays, respectively, and normally-open holding switch means operated by each auxiliary relay arranged to complete the holding circuit thereof, a dynamic braking resistor arranged to be connected in parallel with said armature, first and second normally-closed brake control switches arranged in series with said resistor, said first switch being maintained open by said forward main relay during completion of said forward armature circuit and said second switch being maintained open by said reverse main relay during completion of said reverse armature circuit, a dynamic brake relay connected in par allel with said resistor, a normally-closed main relay switch in series with both of said main relay means, said brake relay being arranged to open said main relay switch when the voltage across said resistor is above a prescribed value, and to close said switch when said voltage falls below said prescribed value, said prescribed value being below the limiting value above which reverse current cannot be safely passed through said armature.

20. In an electric motor circuit a first set of main switch means arranged to make and break a forward circuit through the armature of the motor, a second set of main switch means arranged to make and break a reverse circuit through said armature, forward and reverse main relay means arranged to operate said first and second sets of switch means, respectively, power terminals adapted to be connected to a source of voltage, to which said main relay means are connected, forward and reverse normally-open aux iliary switches in the power circuits of said forward and reverse main relay means, respectively, forward and reverse auxiliary relay means adapted to close said forward and reverse auxiliary switches, respectively, when operated, forward and reverse control switches each having a set of normally-open and a set of normallyclosed switch contacts, and having its set of nor mally-open contacts in an operator circuit for the forward and reverseauxiliary relays, respecmeans, a limiter circuit arranged to short circuit said speed control voltage through said armature and thereby to limit the magnitude of said reference voltage to a prescribed safe value in accordance with the speed of said armature, and means including said impedance means in a regulation circuit for said limiter circuit.

26. In a speed control circuit for an electric motor including controllable electron discharge means and means adapted to connect said discharge means and said motor in series to a source of alternating voltage, speed control means for said motor operable thereon through control of said discharge means, means providing a reference speed control voltage, means providing said control voltage to said speed control means, means arranged to short circuit said speed control voltage through the motor armature and a resistance path in series and thereby to limit the magnitude of said control voltage in accordance with the speed of said motor, means providing a voltage varying in magnitude in accordance with the current flow through said discharge means, and means arranged to provide said last-mew tioned voltage to said speed control means and simultaneously across at least a portion of said resistance path.

27. In combination with an electric motor having an armature and a field Winding, a system for operating said motor from a periodic voltage supply comprising input terminals adapted to be connected to a periodic voltage supply, a gridcontrolled gaseous rectifier connected in series with said armature across said terminals, an electric wave producing circuit dimensioned to provide a voltage pulse characterized by a relatively steep leading edge during each period of said supply, means providing control of the point in said supply period when said leading edge occurs, and circuit means furnishing said pulse to the control grid of said rectifier.

28. In combination with an electric motor having an armature and a field winding, a system for operating said motor from a periodic voltage supply comprising input terminals adapted to be connected to a periodic voltage supply, a grid controlled gaseous rectifier connected in series with said armature across said terminals, an electronic pulse producing oscillator circuit dimensioned to provide a voltage pulse characterized by a relatively steep leading edge during each period of said supply, means providing control of the point in said supply period when said leading edge occurs, and circuit means furnishing said pulse to the control grid of said rectifier.

29. In combination with an electric motor having an armature and a field Winding, a system for operating said motor from a periodic voltage supply comprising input terminals adapted to be connected to a periodic voltage supply, a first grid-controlled gaseous discharge tube having a cathode connected to a first side of said armature and an anode connected to a first of said terminals, the second side of said armature being connected to the second of said terminals, means providing a source of unidirectional voltage connected at one point to a point of said supply, a second grid-controlled gaseous discharge tube having its anode connected to the positive side of said unidirectional source and its cathode connected to said first side of said armature, resistance means in each of said connections, said second tube being arranged in an electric pulse producing circuit to produce a voltage pulse characterized by a relatively sharp leading edge, means to cause said second tube to produce said pulse at a prescribed point in said supply period, and a pulse transmissive connection between said second tube and said first tube control grid.

30. In combination with an electric motor having an armature and a field winding, a system for operating said motor from a periodic voltage supply comprising input terminals adapted to be connected to a periodic voltage supply, a gridcontrolled gaseous discharge tube having its anode-cathode path connected in series with said armature between said terminals with its cathode connected to one side of said armature, a gridcontrolled pulse producing oscillator circuit dimensioned to provide a voltage pulse characterized by a relatively steep leading edge, means coupling the output of said circuit to the grid of said tube, means connected at one point to one of said terminals and adapted to provide control Voltage to the grid of said oscillator and an electron tube voltage limiter including an anode connected to said means and a cathode connected to the cathode of said tube.

31. In combination with an electric motor having an armature and a field winding, a system for operating said motor from a periodic voltage supply comprising input terminals adapted to be connected to a periodic voltage supply, a gridcontrolled gaseous discharge tube having its anode-cathode path connected in series with said armature between said terminals with its cathode connected to one side of said armature, a grid-controlled oscillator circuit dimensioned to provide a voltage pulse when the grid potential thereof is raised above a prescribed firing potential from a lower potential, means coupling the output of said circuit to the grid of said tube, means adapted to provide variable unidirectional potential connected at one side to the armature supply terminal, and means adapted to provide periodic voltage of the same period as said supply but substantially one-quarter period lagging in phase connected in series with said unidirec tional potential means to said oscillator grid.

32. In combination with an electric motor having an armature and a field winding, a system for operating said motor from a periodic voltage supply comprising input terminals adapted to be connected to a periodic voltage supply, a grid-controlled gaseous discharge tube having its anode-cathode path connected in series with said armature between said terminals with its cathode connected to one side of said armature, a grid-controlled oscillator circuit dimensioned to provide a voltage pulse when the grid potential thereof is raised above a prescribed firing poten tial from a lower potential, means coupling the output of said circuit to the grid of said tube, means adapted to provide variable unidirectional potential connected at one side to the armature supply terminal, and means adapted to provide periodic voltage of the same period said supply but substantially one-quarter period lagging in phase connected in series with said unidirectional potential means to said oscillator grid, and an electron tube voltage limiter including an anode connected to said oscillator grid and acathode connected to the cathode of said tube.

CARLO L. cALosi.

References Cited in the file of this patent UNITED STATES PATENTS Number Name Date 2,229,414 King Jan. 21, 1941 2,400,599 Reeves May 21, 1946 

